CN114801726A

CN114801726A - Vehicle control method and device, vehicle and storage medium

Info

Publication number: CN114801726A
Application number: CN202210582787.1A
Authority: CN
Inventors: 沈国华; 胡成帅; 汪震隆; 梁海波; 赖富刚
Original assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-07-29

Abstract

The application provides a control method, a device, a vehicle and a storage medium of the vehicle, wherein in the method, within a first preset time length in a current operation period in the operation process of the vehicle, and when the current vehicle speed is greater than the preset vehicle speed threshold value, acquiring a target accelerator opening value of a vehicle pedal, determining an adjustment coefficient of the vehicle pedal according to the target accelerator opening value, a lower limit of a preset vehicle pedal opening comfortable interval, an upper limit of the preset vehicle pedal opening comfortable interval, a lower limit of a preset vehicle pedal opening weighting coefficient and an upper limit of the preset vehicle pedal opening weighting coefficient, and then according to the adjustment coefficient, and finally, after the accelerator opening of a vehicle pedal is detected to return to 0, controlling the vehicle to operate according to the target accelerator opening. The method realizes that the fatigue feeling of the ankle of the user can be effectively reduced during driving.

Description

Vehicle control method and device, vehicle and storage medium

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling a vehicle, and a storage medium.

Background

The user is when driving the vehicle, and accelerator pedal's installation angle and pedal force have direct influence to the user perception, especially when driving the vehicle for a long time, and one accords with man-machine, comfortable accelerator pedal and tramples the angle and can effectively reduce driver's the tired sense of ankle, promotes the user and experiences with the car.

In the prior art, in the vehicle research and development design process, a host factory can check the man-machine engineering of the pedal angle, and the installation position and the angle of the pedal can meet the needs of most user groups.

However, the angle of the accelerator pedal also varies with the driving condition of the vehicle and the torque required for acceleration of the user, so that the original pedal installation angle checked by ergonomics also has problems such as foot hooking and foot shortage under specific driving conditions, so that the user cannot have better driving experience during driving, and the ankle is tired.

Disclosure of Invention

The embodiment of the application provides a control method and device of a vehicle, the vehicle and a storage medium, which are used for solving the problem that a user cannot effectively reduce the fatigue feeling of ankles during driving.

In a first aspect, an embodiment of the present application provides a control method for a vehicle, including:

the method comprises the steps that a target accelerator opening value of a vehicle pedal is obtained within a first preset time length in a current operation period in the vehicle operation process, and when the current vehicle speed is greater than a preset vehicle speed threshold value, the target accelerator opening value is the accelerator opening value which accounts for the largest of a plurality of accelerator opening values, the vehicle operation process comprises a plurality of operation periods, each operation period comprises a first preset time length and a second preset time length, and the starting point of the second preset time length is the end point of the first preset time length;

determining an adjustment coefficient of the vehicle pedal according to the target accelerator opening value, a preset lower limit of a vehicle pedal opening comfortable interval, a preset upper limit of the vehicle pedal opening comfortable interval, a preset lower limit of a vehicle pedal opening weighting coefficient and a preset upper limit of the vehicle pedal opening weighting coefficient, wherein the adjustment coefficient is a weighting coefficient for correcting the vehicle accelerator opening;

determining a target accelerator opening degree according to the adjustment coefficient, a second preset time length in the current operation period and an original accelerator opening degree in a first preset time length in the next operation period;

and controlling the vehicle to operate according to the target accelerator opening after the accelerator opening of the vehicle pedal is detected to be 0 within a second preset time length in the current operation period and a first preset time length in the next operation period.

In a possible design of the first aspect, the determining an adjustment coefficient of the vehicle pedal according to the target accelerator opening value, a preset lower limit of a vehicle pedal opening comfort zone, a preset upper limit of the vehicle pedal opening comfort zone, a preset lower limit of a vehicle pedal opening weighting coefficient, and a preset upper limit of the vehicle pedal opening weighting coefficient includes:

if the target accelerator opening value is larger than the upper limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is larger than or equal to the upper limit of the comfortable interval of the vehicle pedal opening, determining the adjusting coefficient as the upper limit of the weighting coefficient of the vehicle pedal opening;

if the target accelerator opening value is larger than the upper limit of the vehicle pedal opening comfortable interval and the quotient of the target accelerator opening value and the upper limit of the vehicle pedal opening weighting coefficient is smaller than the upper limit of the vehicle pedal opening comfortable interval, determining the adjustment coefficient as the quotient of the target accelerator opening value and the upper limit of the vehicle pedal opening comfortable interval;

if the target accelerator opening value is smaller than the lower limit of the comfortable interval of the vehicle pedal opening and the quotient of the target accelerator opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is smaller than or equal to the lower limit of the comfortable interval of the vehicle pedal opening, determining the adjusting coefficient as the lower limit of the weighting coefficient of the vehicle pedal opening;

and if the target accelerator opening value is smaller than the lower limit of the vehicle pedal opening comfortable interval, and the quotient of the target accelerator opening value and the lower limit of the vehicle pedal opening weighting coefficient is larger than the lower limit of the vehicle pedal opening comfortable interval, determining the adjustment coefficient as the quotient of the target accelerator opening value and the lower limit of the vehicle pedal opening comfortable interval.

In another possible design of the first aspect, the method further includes:

and if the target accelerator opening value is smaller than or equal to the upper limit of the comfortable interval of the vehicle pedal opening and is larger than or equal to the lower limit of the comfortable interval of the vehicle pedal opening, determining that the adjustment coefficient is 1.

Optionally, the method further includes:

and after the vehicle finishes running and the parking time is longer than a preset time threshold, determining that the adjustment coefficient is 1.

Optionally, the obtaining a target accelerator opening value of a vehicle pedal within a first preset time length in a current operation cycle in the vehicle operation process when the current vehicle speed is greater than a preset vehicle speed threshold includes:

acquiring the plurality of throttle opening values within a first preset time length in the current operation period and when the current vehicle speed is greater than a preset vehicle speed threshold value;

dividing the plurality of throttle opening values according to preset granularity to obtain at least one group of candidate throttle opening values;

for each group of candidate throttle opening values, determining the ratio of the number of the candidate throttle opening values to the number corresponding to the plurality of throttle opening values;

and determining the candidate throttle opening value with the largest ratio from all ratios as the target throttle opening value.

In a second aspect, an embodiment of the present application provides a control apparatus for a vehicle, including:

the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a target accelerator opening value of a vehicle pedal within a first preset time length in a current operation period in the vehicle operation process when the current vehicle speed is greater than a preset vehicle speed threshold value, the target accelerator opening value is the accelerator opening value occupying the largest ratio in a plurality of accelerator opening values, the vehicle operation process comprises a plurality of operation periods, each operation period comprises a first preset time length and a second preset time length, and the starting point of the second preset time length is the end point of the first preset time length;

the determining module is used for determining an adjusting coefficient of the vehicle pedal according to the target accelerator opening value, a lower limit of a preset vehicle pedal opening comfortable interval, an upper limit of a preset vehicle pedal opening comfortable interval, a lower limit of a preset vehicle pedal opening weighting coefficient and an upper limit of a preset vehicle pedal opening weighting coefficient, wherein the adjusting coefficient is a weighting coefficient for correcting the accelerator opening of the vehicle;

the processing module is used for determining a target accelerator opening according to the adjustment coefficient, a second preset time length in the current operation period and an original accelerator opening in a first preset time length in the next operation period;

and the control module is used for controlling the vehicle to operate according to the target accelerator opening after the accelerator opening of the vehicle pedal is detected to be 0 within a second preset time length in the current operation period and a first preset time length in the next operation period.

In a possible design of the second aspect, the determining module is specifically configured to:

when the target accelerator opening value is larger than the upper limit of the vehicle pedal opening comfortable interval and the quotient of the target accelerator opening value and the upper limit of the vehicle pedal opening weighting coefficient is larger than or equal to the upper limit of the vehicle pedal opening comfortable interval, determining the adjusting coefficient as the upper limit of the vehicle pedal opening weighting coefficient;

when the target accelerator opening value is larger than the upper limit of the vehicle pedal opening comfortable interval and the quotient of the target accelerator opening value and the upper limit of the vehicle pedal opening weighting coefficient is smaller than the upper limit of the vehicle pedal opening comfortable interval, determining the adjustment coefficient as the quotient of the target accelerator opening value and the upper limit of the vehicle pedal opening comfortable interval;

when the target accelerator opening value is smaller than the lower limit of the vehicle pedal opening comfortable interval and the quotient of the target accelerator opening value and the lower limit of the vehicle pedal opening weighting coefficient is smaller than or equal to the lower limit of the vehicle pedal opening comfortable interval, determining the adjusting coefficient as the lower limit of the vehicle pedal opening weighting coefficient;

and when the target accelerator opening value is smaller than the lower limit of the vehicle pedal opening comfortable interval and the quotient of the target accelerator opening value and the lower limit of the vehicle pedal opening weighting coefficient is larger than the lower limit of the vehicle pedal opening comfortable interval, determining the adjustment coefficient as the quotient of the target accelerator opening value and the lower limit of the vehicle pedal opening comfortable interval.

In another possible design of the second aspect, the determining module is further configured to:

Optionally, the determining module is further configured to:

Optionally, the obtaining module is specifically configured to:

In a third aspect, an embodiment of the present application provides a vehicle, including: a processor, a memory;

the memory stores computer-executable instructions;

the processor executes the computer-executable instructions to cause the vehicle to perform the control method of the vehicle as set forth in the first aspect and various possible designs described above.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is used for implementing a control method for a vehicle as described in the first aspect and various possible designs.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program, which when executed by a processor, is configured to implement a control method for a vehicle as described in the first aspect and various possible designs.

In the method, a target accelerator opening value of a vehicle pedal is obtained within a first preset time length in a current operation period in the vehicle operation process, and when the current vehicle speed is greater than a preset vehicle speed threshold value, the vehicle operation process comprises a plurality of operation periods, each operation period comprises a first preset time length and a second preset time length, the starting point of the second preset time length is the end point of the first preset time length, an adjustment coefficient of the vehicle pedal is determined according to the target accelerator opening value, the lower limit of the preset vehicle pedal opening comfort interval, the upper limit of the preset vehicle pedal opening comfort interval, the lower limit of the preset vehicle pedal opening weighting coefficient and the upper limit of the preset vehicle pedal opening weighting coefficient, the adjustment coefficient is a weighting coefficient for correcting the vehicle accelerator opening, and finally, after detecting that the accelerator opening of a vehicle pedal is returned to 0 in the second preset time length in the current operation period and the first preset time length in the next operation period, controlling the vehicle to operate according to the target accelerator opening. The method realizes that the fatigue feeling of the ankle of the user can be effectively reduced during driving.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic application scenario diagram of a vehicle control method according to an embodiment of the present application;

FIG. 2 is a schematic diagram illustrating a method for controlling a vehicle according to an embodiment of the present disclosure;

fig. 3 is a schematic flowchart of a first embodiment of a control method for a vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an operating cycle provided by an embodiment of the present application;

FIG. 5 is a schematic ratio diagram of throttle opening values provided by an embodiment of the present application;

fig. 6 is a schematic flowchart of a second embodiment of a vehicle control method according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Before introducing the embodiments of the present application, the background of the present application is explained first:

when a user drives a vehicle, the installation angle and pedal force of an accelerator pedal have a direct influence on the user perception. Especially when driving the vehicle for a long time, the ankle fatigue of the driver can be effectively reduced by a comfortable accelerator pedal stepping angle which accords with man-machine, and the vehicle using experience of the user is improved.

Usually, in the vehicle research and development design process, a host factory can check the ergonomics of the pedal angle, and the installation position and the angle of the pedal can meet the needs of most user groups. Various large automobile manufacturers do a lot of work to reduce the operation intensity and driving comfort of drivers, such as seat wrapping, steering assistance, brake assistance and the like.

However, the accelerator pedal angle also varies with the vehicle driving condition and the acceleration torque required by the user, and therefore, the original ergonomically checked pedal installation angle also has problems such as foot hooking and foot shortage under specific driving conditions.

Specifically, during the long-time driving process, the driver is very likely to feel fatigue due to frequent operations such as acceleration and deceleration, steering, lane changing and the like on the vehicle.

Based on the problems in the prior art, fig. 1 is a schematic view of an application scenario of a control method of a vehicle according to an embodiment of the present application, so as to solve the technical problems. As shown in fig. 1, the application scenario diagram includes: a vehicle 11 and a user 12.

Optionally, the user 12 operates the vehicle 11, and an Electronic Control Unit (ECU) of the vehicle 11 acquires angle data of the user 12 stepping on a pedal of the vehicle, and determines an adjustment coefficient of the accelerator opening of the vehicle according to the angle data, so that when the user 12 operates the vehicle 11, the actual accelerator opening of the vehicle is corrected by the adjustment coefficient, so as to adapt to long-time driving of the vehicle 11 by the user 12.

The vehicle 11 may be any type of vehicle having a vehicle pedal, including: cars, trucks, buses, etc.

For example, fig. 2 is a schematic diagram illustrating a method for controlling a vehicle according to an embodiment of the present disclosure. The implementation principle is shown in fig. 2:

the displacement sensor detects the displacement of the accelerator Pedal, the displacement of the accelerator Pedal is obtained and then converted into an accelerator Pedal signal voltage, the accelerator Pedal signal voltage is then converted into an original accelerator Pedal opening, a target accelerator opening is obtained after the adjustment coefficient is corrected, and the ECU uses the oil target accelerator opening and an accelerator Pedal torque pulse spectrum (Peal Map) to look up a table to obtain an output torque so as to realize the control of the vehicle.

In order to solve the technical problems, the technical conception process of the inventor is as follows: if can trample accelerator pedal's angle data to the driver and monitored, statistics and analysis to through self-adaptation adjustment algorithm to the aperture signal of accelerator pedal carries out processing, make the driver trample accelerator pedal's angle adjust gradually to a comparatively comfortable interval, make the vehicle possess certain self-learning ability, thereby alright reduce driver ankle joint's fatigue degree, and can promote vehicle ease operation nature, improve driver and use car and experience.

The following describes the technical solution of the present application in detail through specific embodiments with an application scenario schematic diagram shown in fig. 1 and a principle schematic diagram shown in fig. 2. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 3 is a schematic flowchart of a first embodiment of a vehicle control method according to an embodiment of the present application. As shown in fig. 3, the control method of the vehicle includes the steps of:

and 31, acquiring a target accelerator opening value of a vehicle pedal within a first preset time length in a current operation period in the vehicle operation process and when the current vehicle speed is greater than a preset vehicle speed threshold value.

The target throttle opening value is the throttle opening value occupying the largest proportion in the multiple throttle opening values, and may be APPm, the vehicle operation process includes multiple operation cycles, each operation cycle includes a first preset time length and a second preset time length, and a starting point of the second preset time length is an end point of the first preset time length.

In the step, a user starts the vehicle, namely Key-ON, and then the vehicle runs at a certain speed under the action of stepping ON a vehicle pedal by the user, and when the current speed of the vehicle is greater than a preset speed threshold, the vehicle acquires the largest accelerator opening value in a plurality of accelerator opening values.

Alternatively, the process may be divided into a plurality of operating cycles during the operation of the entire vehicle, and each cycle may include a first preset time period and a second preset time period.

As an example, fig. 4 is a schematic diagram of the operation cycles provided in the embodiment of the present application, as shown in fig. 4, a first preset time duration of a first operation cycle is T0, a second preset time duration is T1, a first preset time duration of a second operation cycle is T0, and a second preset time duration is T1 … ….

Specifically, for example, T0 is 5 minutes, T1 is 15 minutes, and the corresponding time when the current vehicle speed of the vehicle is detected to be greater than the preset vehicle speed threshold value of 30km/h is 12: 05, i.e. the starting instant of the first operating cycle T0 of vehicle operation, is 12: 05, start time of T1 is 12: 10. as the vehicle continues to operate, at 12: 05-12: a target throttle opening value of the vehicle pedal is determined between 10.

Optionally, fig. 5 is a proportion schematic diagram of the throttle opening value provided in the embodiment of the present application, and details of implementation of this step are described in conjunction with fig. 5:

step 1, within a first preset time length in the current operation period and when the current vehicle speed is greater than a preset vehicle speed threshold value, obtaining a plurality of accelerator opening value ratios according to the granularity of the preset accelerator opening blocks.

Following the above example, at 12: 05-12: 10, continuous multiple throttle opening values of the vehicle are acquired in real time according to a certain sampling frequency, for example, 25 throttle opening values are acquired, wherein the number of the throttle opening values is 3%, 5%, 9%, 8%, 16%. 36%, and 39%.

And 2, dividing the plurality of throttle opening values according to preset granularity to obtain at least one group of candidate throttle opening values.

In the above example, for example, if the preset granularity is 5%, the throttle opening values are classified into the following candidate throttle opening values:

group 1 (0% -5%: 3%, 5%;

group 2 (5% -10%: 8%, 9%;

group 3 (10% -15%: 11%, 12%, 14%;

group 4 (15% -20%: 16%, 18%, 20%;

group 5 (20% -25%; 21%, 25%, 23%, 24%;

group 6 (25% -30%: 26%, 30%, 27%;

group 7 (30% -35%: 31%, 32%;

group 8 (35% -40%: 36%, 39%.

It should be understood that a throttle opening value of 0% may not be counted.

And 3, determining the ratio of the number of the candidate throttle opening degree values in the number corresponding to the plurality of throttle opening degree values according to each group of candidate throttle opening degree values.

Following the above example, calculating the ratio of the number of candidate accelerator opening degree values in each group to the number corresponding to all accelerator opening degree values, then we obtain:

group 1: 2/25 ═ 8%;

group 2: 2/25 ═ 8%;

group 3: 4/25 ═ 16%;

group 4: 6/25 ═ 24%;

group 5: 4/25 ═ 16%;

group 6: 3/25-12%;

group 7: 2/25 ═ 8%;

group 8: 2/25-8%.

And 4, determining the candidate accelerator opening value with the largest ratio from all ratios as a target accelerator opening value.

In the above example, the ratio corresponding to the candidate throttle opening degree value of the 4 th group is larger than the ratios corresponding to the other groups, that is, one opening degree value is selected as the target throttle opening degree value in (16%, 18%, 20%) according to a certain rule.

In one possible implementation, since the value of group 4 is (15% -20%), 20% can be used as the target throttle opening value, i.e., the value corresponding to the right closed interval in the range is selected.

It should be appreciated that the frequency of collecting throttle opening values may be increased to avoid the occurrence of the same duty ratio for the two sets of candidate throttle opening values. The above example is merely illustrative of collecting throttle opening values 5 times per minute.

And step 32, determining an adjustment coefficient of the vehicle pedal according to the target accelerator opening value, the lower limit of the preset vehicle pedal opening comfortable interval, the upper limit of the preset vehicle pedal opening comfortable interval, the lower limit of the preset vehicle pedal opening weighting coefficient and the upper limit of the preset vehicle pedal opening weighting coefficient.

The adjustment coefficient is a weighting coefficient for correcting the accelerator opening degree of the vehicle, and may be WFt.

In this step, a comfortable section of the vehicle pedal opening degree, a lower limit of the weighting coefficient of the vehicle pedal opening degree, and an upper limit of the weighting coefficient of the vehicle pedal opening degree may be set in order to largely adapt to the driving of the user.

Alternatively, the vehicle pedal opening comfort interval may be [ APP1, APP2], for example, the lower limit APP1 of the vehicle pedal opening comfort interval is 20%, and the upper limit APP2 of the vehicle pedal opening comfort interval is 30%.

Optionally, the lower limit of the vehicle pedal opening weighting coefficient may be WF1, which takes a value of (0% -100%), and the upper limit of the vehicle pedal opening weighting coefficient may be WF2, which takes a value of [ 100% -200%).

In one possible implementation, the lower limit of the weighting factor for the vehicle pedal opening is 80% and the upper limit of the weighting factor for the vehicle pedal opening is 120%.

Further, an adjustment coefficient of the vehicle pedal is determined according to the preset lower limit of the vehicle pedal opening degree comfort interval, the preset upper limit of the vehicle pedal opening degree comfort interval, the preset lower limit of the vehicle pedal opening degree weighting coefficient, the preset upper limit of the vehicle pedal opening degree weighting coefficient, and the preset target accelerator opening degree value, and a specific implementation process is the embodiment shown in fig. 6.

And step 33, determining a target accelerator opening according to the adjustment coefficient, the second preset time length in the current operation period and the original accelerator opening in the first preset time length in the next operation period.

In this step, when the first preset duration of the current operation cycle is over, the adjustment coefficient of the vehicle pedal is already determined, an original accelerator opening can be obtained at each time point when the user steps on the vehicle pedal within the second preset duration of the current operation cycle and the first preset duration of the next operation cycle, and the accelerator opening required by the actual operation of the vehicle, namely the target accelerator opening, can be obtained by multiplying the adjustment coefficient on the basis of the original accelerator opening.

In one possible implementation, following the above example, during operation of the vehicle, at 12: 17, the ECU detects that the accelerator opening at which the user steps on the pedal of the vehicle is 30%, and the adjustment coefficient is 90%, the target accelerator opening is 27%.

In one possible implementation, following the above example, during operation of the vehicle, at 12: at node 27, the ECU detects that the accelerator opening at which the user steps on the vehicle pedal is 35%, and the adjustment coefficient is 90%, the target accelerator opening is 31.5%.

Namely: the target accelerator opening APPt is the original accelerator opening APP0 × WFt.

And step 34, controlling the vehicle to operate according to the target accelerator opening after the accelerator opening of the vehicle pedal is detected to be 0 within the second preset time length in the current operation period and the first preset time length in the next operation period.

In the step, whether the accelerator opening of the pedal of the vehicle is returned to 0 needs to be detected in the second preset time length in the current operation period and the first preset time length in the next operation period, and if the accelerator opening of the pedal of the vehicle is not returned to 0, the ECU corrects the accelerator opening of the vehicle, so that the vehicle is subjected to a condition of sudden speed change, and the driving experience is influenced.

Further, after the accelerator opening of the vehicle pedal is detected to return to 0, the vehicle is controlled to operate according to the target accelerator opening.

In one possible implementation, during operation of the vehicle, at 12: 15, detecting that the accelerator opening of the vehicle pedal is 0, namely the accelerator opening is 0%, and in 12: after 15, the accelerator opening degree required for the actual operation of the vehicle, that is, the accelerator opening degree after the original accelerator opening degree is corrected.

In one possible implementation, following the above example, during operation of the vehicle, at 12: after 15, at 12: 17, the ECU detects that the accelerator opening of the pedal of the vehicle is 30% when the user steps on the pedal of the vehicle, and the ECU controls the vehicle to run according to the target accelerator opening of 27%.

Specifically, according to the size of the target accelerator opening, a table is looked up in an accelerator pedal torque pulse spectrum to obtain an output torque, and the vehicle is controlled to operate according to the output torque.

In addition, after the vehicle operation is finished and the parking time is longer than the preset time threshold value, the adjustment coefficient is determined to be 1.

Optionally, in this implementation, after the vehicle is Key-off and the parking time is less than or equal to the duration threshold, WFt continues to keep the original set value; after the downtime is greater than the duration threshold WFt reverts to the default value setting, i.e., may be 1.

In one possible implementation, the duration threshold may be the sum of the first preset duration and the second preset duration, i.e., T0+ T1.

In the control method for the vehicle provided by the embodiment of the application, a target accelerator opening value of a vehicle pedal is obtained in a first preset time length in a current running period in the running process of the vehicle, when the current vehicle speed is greater than a preset vehicle speed threshold value, the running process of the vehicle comprises a plurality of running periods, each running period comprises a first preset time length and a second preset time length, a starting point of the second preset time length is an end point of the first preset time length, an adjustment coefficient of the vehicle pedal is determined according to the target accelerator opening value, a lower limit of a preset vehicle pedal opening comfort zone, an upper limit of the preset vehicle pedal opening comfort zone, a lower limit of a preset vehicle pedal opening weighting coefficient and an upper limit of a preset vehicle pedal opening weighting coefficient, and then according to the adjustment coefficient, and finally, after detecting that the accelerator opening of a vehicle pedal is returned to 0 in the second preset time length in the current operation period and the first preset time length in the next operation period, controlling the vehicle to operate according to the target accelerator opening. The method effectively reduces the uncomfortable feeling caused by long-time pedal stepping operation of the ankle of the driver, improves the easy operability of the accelerator pedal, and brings more driving pleasure to the driver.

On the basis of the foregoing embodiment, fig. 6 is a schematic flowchart of a second embodiment of a control method for a vehicle according to an embodiment of the present application, and as shown in fig. 6, step 32 in the foregoing embodiment may be implemented in several ways as follows:

it should be understood that the following steps, without an absolute order relationship, are all possible implementations of determining the adjustment coefficients:

and step 61, if the target accelerator opening value is larger than the upper limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is larger than or equal to the upper limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the upper limit of the weighting coefficient of the vehicle pedal opening.

Optionally, if APPm > APP2 and APPm/WF2 ≧ APP2, WFt ═ WF 2.

In one possible implementation, APPm is 37%, APP2 is 30%, WF2 is 120%, then APPm/WF2 is 30.8%, 30.8% > 30%, then WFt is 120%.

And step 62, if the target accelerator opening value is larger than the upper limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is smaller than the upper limit of the comfortable interval of the vehicle pedal opening, determining that the adjustment coefficient is the quotient of the target accelerator opening value and the upper limit of the comfortable interval of the vehicle pedal opening.

Alternatively, if APPm > APP2, and APPm/WF2 < APP2, WFt is APPm/APP 2.

In one possible implementation, APPm is 32%, APP2 is 30%, WF2 is 120%, then APPm/WF2 is 26.7%, 26.7% < 30%, then WFt is 106.7%.

And 63, if the target accelerator opening value is smaller than the lower limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is smaller than or equal to the lower limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the lower limit of the weighting coefficient of the vehicle pedal opening.

Optionally, if APPm < APP1 and APPm/WF1 ≦ APP1, WFt ═ WF 1.

In one possible implementation, APPm is 15%, APP1 is 20%, WF1 is 80%, then APPm/WF1 is 18.7%, this 218.7% < 20%, then WFt is 80%.

And step 64, if the target accelerator opening value is smaller than the lower limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is larger than the lower limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the quotient of the target accelerator opening value and the lower limit of the comfortable interval of the vehicle pedal opening.

Alternatively, if APPm < APP1 and APPm/WF1 > APP1, WFt is APPm/APP 1.

In one possible implementation, APPm is 18%, APP1 is 20%, WF1 is 80%, APPm/WF1 is 22.5%, 22.5% > 20%, WFt is 90%.

And 65, if the target accelerator opening value is less than or equal to the upper limit of the comfortable interval of the vehicle pedal opening and is greater than or equal to the lower limit of the comfortable interval of the vehicle pedal opening, determining that the adjustment coefficient is 1.

Alternatively, if APPm ∈ [ APP1, APP2], APPt ═ APP0, that is, the adjustment coefficient is 1, and the target accelerator opening is equal to the original accelerator opening × 1.

In one possible implementation, APPm is 25%, APP1 is 20%, APP2 is 30%, then WFt is 100%, i.e., 1.

According to the control method of the vehicle, when the target accelerator opening value is larger than the upper limit of a comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is larger than or equal to the upper limit of the comfortable interval of the vehicle pedal opening, the adjusting coefficient is determined to be the upper limit of the weighting coefficient of the vehicle pedal opening; when the target accelerator opening value is larger than the upper limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is smaller than the upper limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the quotient of the target accelerator opening value and the upper limit of the comfortable interval of the vehicle pedal opening; when the target accelerator opening value is smaller than the lower limit of the comfortable interval of the vehicle pedal opening and the quotient of the target accelerator opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is smaller than or equal to the lower limit of the comfortable interval of the vehicle pedal opening, determining the adjusting coefficient as the lower limit of the weighting coefficient of the vehicle pedal opening; when the target accelerator opening value is smaller than the lower limit of the comfortable interval of the vehicle pedal opening and the quotient of the target accelerator opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is larger than the lower limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the quotient of the target accelerator opening value and the lower limit of the comfortable interval of the vehicle pedal opening; and when the target accelerator opening value is smaller than or equal to the upper limit of the comfortable interval of the vehicle pedal opening and is larger than or equal to the lower limit of the comfortable interval of the vehicle pedal opening, determining that the adjustment coefficient is 1. According to the judgment process, the adjustment coefficient is determined, support is provided for the subsequent vehicle torque actually output, and the driving experience of a user is improved.

On the basis of the above method embodiment, fig. 7 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present application. As shown in fig. 7, the control device for a vehicle includes:

the obtaining module 71 is configured to obtain a target accelerator opening value of a vehicle pedal within a first preset time length in a current operation period in an operation process of a vehicle, where the current vehicle speed is greater than a preset vehicle speed threshold, the target accelerator opening value is an accelerator opening value occupying a largest proportion of a plurality of accelerator opening values, the operation process of the vehicle includes a plurality of operation periods, each operation period includes a first preset time length and a second preset time length, and a starting point of the second preset time length is an end point of the first preset time length;

the determining module 72 is configured to determine an adjustment coefficient of the vehicle pedal according to the target accelerator opening value, a lower limit of a preset vehicle pedal opening comfort interval, an upper limit of the preset vehicle pedal opening comfort interval, a lower limit of a preset vehicle pedal opening weighting coefficient, and an upper limit of the preset vehicle pedal opening weighting coefficient, where the adjustment coefficient is a weighting coefficient for correcting the vehicle accelerator opening;

the processing module 73 is configured to determine a target accelerator opening according to the adjustment coefficient, a second preset time length in the current operation period, and an original accelerator opening within a first preset time length in the next operation period;

and the control module 74 is used for controlling the vehicle to operate according to the target accelerator opening after the accelerator opening of the vehicle pedal is detected to be 0 within the second preset time period in the current operation period and the first preset time period in the next operation period.

In one possible design of the embodiment of the present application, the determining module 72 is specifically configured to:

when the target accelerator opening value is larger than the upper limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is larger than or equal to the upper limit of the comfortable interval of the vehicle pedal opening, determining the adjusting coefficient as the upper limit of the weighting coefficient of the vehicle pedal opening;

when the target accelerator opening value is larger than the upper limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is smaller than the upper limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the quotient of the target accelerator opening value and the upper limit of the comfortable interval of the vehicle pedal opening;

when the target accelerator opening value is smaller than the lower limit of the comfortable interval of the vehicle pedal opening and the quotient of the target accelerator opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is smaller than or equal to the lower limit of the comfortable interval of the vehicle pedal opening, determining the adjusting coefficient as the lower limit of the weighting coefficient of the vehicle pedal opening;

and when the target accelerator opening value is smaller than the lower limit of the comfortable interval of the vehicle pedal opening and the quotient of the target accelerator opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is larger than the lower limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the quotient of the target accelerator opening value and the lower limit of the comfortable interval of the vehicle pedal opening.

In another possible design of the embodiment of the present application, the determining module 72 is further configured to:

Optionally, the determining module 72 is further configured to:

and after the vehicle finishes running and the parking time is longer than a preset time threshold value, determining that the adjustment coefficient is 1.

Optionally, the obtaining module 71 is specifically configured to:

acquiring a plurality of throttle opening values within a first preset time length in a current operation period and when the current vehicle speed is greater than a preset vehicle speed threshold value;

determining the ratio of the number of the candidate throttle opening values to the number corresponding to the plurality of throttle opening values according to each group of candidate throttle opening values;

and determining the candidate throttle opening value with the largest ratio from all ratios as a target throttle opening value.

The control device of the vehicle provided by the embodiment of the application can be used for executing the technical scheme corresponding to the control method of the vehicle in the embodiment, the implementation principle and the technical effect are similar, and the detailed description is omitted.

It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present application. As shown in fig. 8, the vehicle may include: a processor 80, a memory 81, and computer program instructions stored on the memory 81 and operable on the processor 80.

The vehicle may be any vehicle having an accelerator pedal.

The processor 80 executes computer-executable instructions stored by the memory 81, causing the processor 80 to perform the scheme in the above-described embodiments. The processor 80 may be a general-purpose processor including a central processing unit CPU, a Network Processor (NP), and the like; but also a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components.

Optionally, the vehicle may further include: a transceiver 82.

A memory 81 and a transceiver 82 are coupled to the processor 80 via the system bus and communicate with each other, the memory 81 storing computer program instructions.

The transceiver 82 is used to communicate with other devices, and the transceiver 82 constitutes a communication interface.

Optionally, in terms of hardware implementation, the obtaining module 71 in the embodiment shown in fig. 7 corresponds to the transceiver 82 in this embodiment.

The system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The vehicle provided by the embodiment of the application can be used for executing the technical scheme corresponding to the control method of the vehicle in the embodiment, the implementation principle and the technical effect are similar, and the detailed description is omitted.

The embodiment of the application also provides a chip for operating the instructions, and the chip is used for executing the technical scheme of the control method of the vehicle in the embodiment.

The embodiment of the present application further provides a computer-readable storage medium, where a computer instruction is stored in the computer-readable storage medium, and when the computer instruction runs on a vehicle, the vehicle is enabled to execute the technical solution of the control method of the vehicle in the foregoing embodiment.

The embodiment of the present application further provides a computer program product, which includes a computer program, and the computer program is used for executing the technical solution of the control method of the vehicle in the above embodiment when being executed by a processor.

The computer-readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose vehicle.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method of a vehicle, characterized by comprising:

2. The method of claim 1, wherein determining the adjustment coefficient of the vehicle pedal according to the target accelerator opening value, a lower limit of a preset vehicle pedal opening comfort interval, an upper limit of a preset vehicle pedal opening comfort interval, a lower limit of a preset vehicle pedal opening weighting coefficient and an upper limit of a preset vehicle pedal opening weighting coefficient comprises:

if the target accelerator opening value is smaller than the lower limit of the vehicle pedal opening comfortable interval and the quotient of the target accelerator opening value and the lower limit of the vehicle pedal opening weighting coefficient is smaller than or equal to the lower limit of the vehicle pedal opening comfortable interval, determining the adjusting coefficient as the lower limit of the vehicle pedal opening weighting coefficient;

3. The method of claim 2, further comprising:

4. The method according to any one of claims 1-3, further comprising:

5. The method according to any one of claims 1-3, wherein the obtaining of the target throttle opening value of the vehicle pedal within a first preset time period in a current operation cycle during the operation of the vehicle and when the current vehicle speed is greater than a preset vehicle speed threshold value comprises:

6. A control apparatus of a vehicle, characterized by comprising:

7. The apparatus of claim 6, wherein the determining module is specifically configured to:

when the target accelerator opening value is larger than the upper limit of the comfortable interval of the vehicle pedal opening, and the quotient of the target accelerator opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is larger than or equal to the upper limit of the comfortable interval of the vehicle pedal opening, determining the adjustment coefficient as the upper limit of the weighting coefficient of the vehicle pedal opening;

8. A vehicle, comprising: a processor, a memory and computer program instructions stored on and executable on the processor, wherein the processor implements a method of controlling a vehicle as claimed in any one of claims 1 to 5 when executing the computer program instructions.

9. A computer-readable storage medium having stored thereon computer-executable instructions for implementing a control method of a vehicle according to any one of claims 1 to 5 when executed by a processor.

10. A computer program product comprising a computer program for implementing a control method of a vehicle according to any one of the preceding claims 1 to 5 when the computer program is executed by a processor.